Slide rack gripper apparatus

ABSTRACT

A slide rack gripper apparatus is provided that simultaneously conveys a plurality of glass slides in the protection of a slide rack within a digital slide scanning apparatus. The slide rack gripper apparatus conveys the plurality of glass slides from a slide rack carousel to a scanning stage for processing. The slide rack gripper includes a first motor attached to a base configured to drive a finger mount attached to the base along a first linear axis. The slide rack gripper apparatus also includes a second motor attached to the finger mount and configured to drive opposing gripper fingers attached to the finger mount along a second linear axis. The second motor is also configured to drive individual gripper fingers along a third linear axis to move the gripper fingers toward each other and away from each other to grasp or release a slide rack.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Pat. ApplicationNo. 62/593,135, filed on Nov. 30, 2017, which is hereby incorporatedherein by reference as if set forth in full.

BACKGROUND Field of the Invention

The present invention generally relates to a digital slide scanningapparatus and more particularly relates to an internal slide rackgripper apparatus that conveys glass slides in bulk from a carousel to ascanning stage for processing by the digital slide scanning apparatus.

Related Art

Digital pathology is an image-based information environment which isenabled by computer technology that allows for the management ofinformation generated from a physical slide. Digital pathology isenabled in part by virtual microscopy, which is the practice of scanninga specimen on a physical glass slide and creating a digital slide imagethat can be stored, viewed, managed, and analyzed on a computer monitor.With the capability of imaging an entire glass slide, the field ofdigital pathology has exploded and is currently regarded as one of themost promising avenues of diagnostic medicine in order to achieve evenbetter, faster and cheaper diagnosis, prognosis and prediction ofimportant diseases such as cancer.

Some digital slide scanning apparatus have been modified to hold pluralslide racks so that the digital slide scanning apparatus cansequentially process tens or hundreds of glass slides withoutinterruption. However, conveyance of individual glass slides from theslide rack to the scanning stage remains a significant challenge.Therefore, what is needed is a system and method that overcomes thesesignificant problems found in the conventional systems as describedabove.

SUMMARY

Accordingly, described herein is a slide rack gripper apparatus thatconveys glass slides in bulk and in the protection of the slide rackwithin the digital slide scanning apparatus. The slide rack gripperincludes a first motor attached to a base and operatively coupled to afinger mount secured to the base so that the first motor drives thefinger mount along a first linear finger mount axis. The slide rackgripper apparatus also includes a second motor that is supported by andoperatively coupled to the finger mount and configured to drive opposinggripper fingers along a second linear gripper finger axis. The secondmotor may also be configured to drive the individual gripper fingersalong a third linear axis to move the gripper fingers toward each otherand away from each other to grasp or release a slide rack.

In an embodiment, a method comprises storing a plurality of slide racksin a slide rack carousel operatively coupled with a digital slidescanner apparatus, wherein each slide rack supports a plurality of glassslides and conveying a first glass slide to a scanning stage of thedigital slide scanner apparatus by: driving a first gripper fingerattached to a finger mount of a slide rack gripper and a second gripperfinger attached to the finger mount along a linear gripper finger graspaxis to a predetermined distance between a slide rack engagement surfaceof the first gripper finger and a slide rack engagement surface of thesecond gripper finger, and driving the finger mount along a first linearfinger mount axis to position the first gripper finger in a first rackspacer recess on a first side of a first slide rack supporting the firstslide and to position the second gripper finger in a second rack spacerrecess on a second side of the first slide rack. Subsequent to the firstgripper finger and the second gripper finger being positioned onrespective first and second sides of the first slide rack, the methodincludes driving the first gripper finger and the second gripper fingertoward each other along the linear gripper finger grasp axis to bringthe slide rack engagement surface of the first gripper finger in contactwith a first surface of the first slide rack and to bring the slide rackengagement surface of the second gripper finger in contact with a secondsurface of the first slide rack. Subsequent to contact between therespective slide rack engagement surfaces of the first and secondgripper fingers and the first and second surfaces of the first sliderack, the method includes driving the finger mount along the firstlinear finger mount axis to remove the first slide rack from the sliderack carousel, and subsequent to removing the first slide rack from theslide rack carousel, conveying the first slide rack toward the scanningstage.

In an embodiment, a slide rack gripper apparatus includes a base, afinger mount attached to the base and configured to move along a firstlinear axis, a first motor attached to the base and configured to drivethe finger mount along the first linear axis, a plurality of gripperfingers attached to the finger mount and configured to move along asecond linear axis and a third linear axis, wherein each gripper fingercomprises a slide rack engagement surface and the slide rack engagementsurface of a first gripper finger faces the slide rack engagementsurface of a second gripper finger along the third linear axis, and asecond motor attached to the finger mount and configured to drive theplurality of gripper fingers along the second linear axis, the secondmotor further configured to drive the first gripper finger and thesecond gripper finger in opposite directions along the third linear axisto grasp or release a slide rack.

Other features and advantages of the present invention will become morereadily apparent to those of ordinary skill in the art after reviewingthe following detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The structure and operation of the present invention will be understoodfrom a review of the following detailed description and the accompanyingdrawings in which like reference numerals refer to like parts and inwhich:

FIG. 1A is a perspective view diagram illustrating an example slide rackcarousel with rack spacers and slide racks with glass slides accordingto an embodiment of the invention;

FIG. 1B is a side view diagram illustrating an example cross section ofone side of a slide rack carousel base according to an embodiment of theinvention;

FIG. 2 is a top view diagram illustrating an example 1x3 slide rack withglass slides from a first manufacturer according to an embodiment of theinvention;

FIG. 3 is a top view diagram illustrating an example 2x3 slide rack withglass slides from a first manufacturer according to an embodiment of theinvention;

FIG. 4 is a top view diagram illustrating an example 1x3 slide rack withglass slides from a second manufacturer according to an embodiment ofthe invention;

FIG. 5 is a top view diagram illustrating an example 2x3 slide rack withglass slides from a second manufacturer according to an embodiment ofthe invention;

FIG. 6A is a perspective view diagram illustrating an example slide rackgripper apparatus according to an embodiment of the invention;

FIG. 6B is a perspective view diagram illustrating an example slide rackgripper apparatus driving gripper fingers toward a slide rack in acarousel according to an embodiment of the invention;

FIG. 6C is a perspective view diagram illustrating an example slide rackgripper apparatus with gripper fingers engaged with a slide rackpositioned on a slide rack platform according to an embodiment of theinvention;

FIG. 7A is a block diagram illustrating an example processor enableddevice 550 that may be used in connection with various embodimentsdescribed herein;

FIG. 7B is a block diagram illustrating an example line scan camerahaving a single linear array;

FIG. 7C is a block diagram illustrating an example line scan camerahaving three linear arrays; and

FIG. 7D is a block diagram illustrating an example line scan camerahaving a plurality of linear arrays.

DETAILED DESCRIPTION

Certain embodiments disclosed herein provide for a slide rack gripperthat removes different size slide racks from a slide rack carousel andpositions the removed slide rack for further processing by the digitalscanning apparatus. The slide rack gripper also obtains processed slideracks of different sizes and inserts the processed slide rack into theslide rack carousel. After reading this description it will becomeapparent to one skilled in the art how to implement the invention invarious alternative embodiments and alternative applications. However,although various embodiments of the present invention will be describedherein, it is understood that these embodiments are presented by way ofexample only, and not limitation. As such, this detailed description ofvarious alternative embodiments should not be construed to limit thescope or breadth of the present invention as set forth in the appendedclaims.

1. Example Slide Rack Carousel

FIG. 1A is a perspective view diagram illustrating an example slide rack30 carousel 10 with rack spacer 20 s and slide racks 30 with glassslides 40 according to an embodiment of the invention. In theillustrated embodiment, the carousel 10 comprises a plurality of rackspacer20 s that are attached to the upper surface of a carousel base 50and extend upward from the upper surface of the carousel base 50. In anembodiment, each rack spacer 20 includes a rack spacer recess 60configured to allow the hands of an operator insert or remove a sliderack 30 from the carousel 10 and/or allow portions of a slide rack 30gripper insert or remove a slide rack 30 from the carousel 10. Adjacentrack spacer 20 s define a rack slot 70 into which a slide rack 30 can bepositioned such that a slide rack 30 rests primarily on the uppersurface of the carousel base 50. In one embodiment, the upper surface ofthe carousel base 50 is angled downward from an exterior region of thecarousel base 50 toward a central region of the carousel base 50. Glassslides 40 occupy various slots in the slide rack 30 and in oneembodiment the glass slides 40 are advantageously positioned at an anglein accordance with the angle of the upper surface of the carousel base50 and the corresponding angle of the slide rack 30. Additionally, thecarousel 10 comprises a central ring that is secured to an upper portionof each of the plurality of rack spacer 20 s.

FIG. 1B is a side view diagram illustrating an example cross section ofone side of a slide rack 30 carousel base 50 according to an embodimentof the invention. In the illustrated embodiment, a portion of the uppersurface of the carousel base 50 is flat. This portion of the uppersurface is near the perimeter of the upper surface of the carousel base50. Additionally, a different portion of the upper surface of thecarousel base 50 is angled at an angle of θ°. Advantageously, at least aportion of the upper surface of the carousel base 50 is angled and thedegree of the angle, θ°, may range from 1° to 10°, or even higher up to45°. Advantageously, when a slide rack 30 is positioned on the angledupper surface 90 of the base 50, any vibration induced or other movementof the slide rack 30 is biased toward the center of the carousel 10where slide rack 30 stoppers prevent further movement of the slide rack30. Additionally, the individual slides in the slide rack 30 may alsoexperience vibration induced movement or other movement and the angledposition of the slide rack 30 in which an individual slide is disposedalso positions the individual slide at an angle such that movement ofthe individual slide is biased toward the center of the carousel 10where the end of the slide rack 30 prevents further movement of theslide rack 30.

2. Example Slide Racks 30

FIG. 2 is a top view diagram illustrating an example 1x3 slide rack 200with glass slides 210 from a first manufacturer according to anembodiment of the invention. In the illustrated embodiment, the 1×3slide rack 200 comprises one or more slide rack protrusions 220 thatextend outward from the side of the 1x3 slide rack 200.

FIG. 3 is a top view diagram illustrating an example 2x3 slide rack 250with glass slides 260 from a first manufacturer according to anembodiment of the invention. In the illustrated embodiment, the 2x3slide rack 250 comprises one or more slide rack protrusions 270 thatextend outward from the side of the 2x3 slide rack 250.

FIG. 4 is a top view diagram illustrating an example 1x3 slide rack 300with glass slides 310 from a second manufacturer according to anembodiment of the invention. In the illustrated embodiment, the 1x3slide rack 300 comprises one or more slide rack protrusions 330 thatextend outward from the side of the 1×3 slide rack 300.

FIG. 5 is a top view diagram illustrating an example 2x3 slide rack 350with glass slides 360 from a second manufacturer according to anembodiment of the invention. In the illustrated embodiment, the 2x3slide rack 350 comprises one or more slide rack protrusions 370 thatextend outward from the side of the 2x3 slide rack 350.

3. Example Gripper Apparatus

FIG. 6A is a perspective view diagram illustrating an example slide rackgripper apparatus 400 according to an embodiment of the invention. Inthe illustrated embodiment, the slide rack gripper apparatus 400includes a first motor 410 (referred to herein as a gripper motor) thatis attached to a base. The base 420 supports a finger mount 430 thatextends upward from the base 420. The gripper motor 410 is configured tomove the finger mount 430 along a linear finger mount 430 axis, whichmoves the finger mount 430 toward and away from a carousel that houses aplurality of slide racks 30.

The finger mount 430 supports a second motor 440 (referred to herein asa finger motor). The finger motor 440 is configured to move the gripperfingers 450 along a linear gripper finger 450 height axis toappropriately position the height of the gripper fingers 450 forinserting a slide rack 30 into the carousel 10 or for engaging a sliderack 30 in the carousel 10 and removing the slide rack 30 from thecarousel 10. The finger motor 440 is also configured to move the gripperfingers 450 along a linear gripper finger 450 grasp axis.Advantageously, when moving the gripper fingers 450 along the lineargripper finger 450 grasp axis, each gripper finger 450 moves toward theother gripper finger 450 or away from the other gripper finger 450 toincrease or decrease the distance between the gripper fingers 450. Eachgripper finger 450 includes a slide rack 30 engagement surface and eachslide rack 30 engagement surface includes one or more finger protrusions465 configured to engage one or more corresponding slide rack 30protrusions extending from a side of the slide rack 30. In oneembodiment, the slide rack 30 is positioned at an angle in the sliderack 30 and the one or more finger protrusions 465 are configured toengage the one or more corresponding slide rack 30 protrusions extendingfrom the side of the slide rack 30 even when the slide rack 30 ispositioned at an angle.

The finger mount 430 also supports a slide retainer 470 that ispositioned between the two gripper fingers 450 and extends along thegripper finger 450 height axis above and below the gripper fingers 450.In one embodiment, the length of the slide retainer 470 is at least aslong as the height of a slide rack 30. A more refined length may be thelength of the range from a top-most glass slide 40 within a slide rack30 to a bottom-most glass slide 40 within a slide rack 30. The slideretainer 470 is configured to keep the glass slides 40 in the slide rack30 during transport. For example, the slide retain prevents glass slides40 from exiting the slide rack 30 during removal of the slide rack 30from the slide rack 30 carousel 10 and during insertion of the sliderack 30 into the slide rack 30 carousel 10.

The finger mount 430 also supports one or more slide rack sensor 480sthat are positioned and configured to sense the presence of a slide rack30 between the gripper fingers 450. In one embodiment, a processoranalyzes the signal(s) from the slide rack sensor 480(s) to determine atype (e.g., manufacturer and size) of slide rack 30 and whether or notthe determined type of slide rack 30 is supported.

FIG. 6B is a perspective view diagram illustrating an example slide rack30 gripper apparatus driving gripper fingers 450 toward a slide rack 30in a carousel according to an embodiment of the invention. In theillustrated embodiment, the gripper motor 410 drives the finger mount430 that supports the gripper fingers 450 and the slide retainer 470toward the carousel 10. The height of the gripper fingers 450 isadjusted by the finger motor 440 as needed to position the gripperfingers 450 within respective rack spacer recess 60es on either side ofthe slide rack 30 to be grasped when the gripper motor 410 positions thefinger mount 430 proximal the carousel 10. The height of the slideretainer 470 is similarly positioned to secure all of the glass slides40 in the slide rack 30 during transport.

In one embodiment, a processor controls the gripper apparatus to grasp aslide rack 30 that is positioned on the angled upper surface 90 portionof the carousel base 50. The gripper apparatus is controlled toinitially grasp the slide rack 30 at less than 100% of a predeterminedgripping pressure and pull the slide rack 30 a certain distance out ofthe carousel 10 to the region of the carousel base 50 having the flatupper surface 100 portion. At this position, the processor controls thegripper apparatus to grasp the slide rack 30 at 100% of thepredetermined gripping pressure and then pull the slide rack 30 the restof the way out of the carousel 10 to position the slide rack 30 on theslide rack platform 490 for further processing by the digital slidescanning apparatus.

FIG. 6C is a perspective view diagram illustrating an example slide rack30 gripper apparatus with gripper fingers 450 engaged with a slide rack30 positioned on a slide rack platform 490 according to an embodiment ofthe invention. In the illustrated embodiment, the slide rack 30positioned on the slide rack platform 490 has either just been removedfrom the slide rack 30 carousel 10 or is about to be inserted into theslide rack 30 carousel 10. Although no glass slides 40 are illustratedin the slots of the slide rack 30, the slide retainer 470 is positionedto secure the glass slides 40 in the slide rack 30 during transport. Asshown in the illustrated embodiment, the finger protrusions 465 on theengagement surface of the gripper finger 450 engage with a sideprotrusion of the slide rack 30 to securely clamp the slide rack 30between opposing gripper fingers 450 when inserting a slide rack 30 intothe carousel 10 or when removing a slide rack 30 from the carousel 10.

Advantageously, after processing of the slides in the slide rack 30 bythe digital slide scanning apparatus, the slide rack 30 is returned tothe slide rack platform 490. The gripper fingers 450 of the gripperapparatus are configured to grasp the slide rack 30 that is positionedlevel on the slide rack platform 490. Notably, the gripper fingers 450are configured to grasp a slide rack 30 that is positioned at an angleon the angled upper surface 90 portion of the slide rack 30 carouselbase 50 and are also configured to grasp a slide rack 30 that ispositioned level on the flat surface of the slide rack platform 490.

4. Example Embodiments

In one embodiment, a slide rack 30 gripper apparatus of a digital slidescanner apparatus includes a base and a finger mount 430 attached to thebase 420. The finger mount 430 is configured to move along a firstlinear axis, which may be referred to as the finger mount 430 axis. Theslide rack 30 gripper apparatus also includes a first motor 410 attachedto the base 420 and configured to drive the finger mount 430 along thefirst linear axis. The slide rack 30 gripper apparatus also includes aplurality of gripper fingers 450 attached to the finger mount 430. Thegripper fingers 450 are configured to move along a second linear axisand a third linear axis. The second linear axis may be referred to asthe gripper finger 450 height axis and the third linear axis may bereferred to as the gripper finger 450 grasp axis. In this embodiment,each gripper finger 450 comprises a slide rack 30 engagement surface andthe slide rack 30 engagement surface of a first gripper finger 450 facesthe slide rack 30 engagement surface of a second gripper finger 450along the third linear axis. The slide rack 30 gripper apparatus alsoincludes a second motor 440 attached to the finger mount 430 andconfigured to drive the plurality of gripper fingers 450 along thesecond linear axis and further configured to drive the first gripperfinger 450 and the second gripper finger 450 in opposite directionsalong the third linear axis to grasp or release a slide rack 30.

In one embodiment, the slide rack 30 engagement surface of the firstgripper finger 450 comprises one or more finger protrusions 465configured to engage one or more slide rack 30 protrusions extendingfrom a first side of the slide rack 30. In this same embodiment, theslide rack 30 engagement surface of the second gripper finger 450comprises one or more finger protrusions 465 configured to engage one ormore slide rack 30 protrusions extending from a second of the slide rack30. In one embodiment, each of the plurality of gripper fingers 450comprises one or more finger protrusions 465 on its respective sliderack 30 engagement surface. Advantageously, in one embodiment, the oneor more finger protrusions 465 of each of the plurality of gripperfingers 450 are configured to grasp the one or more slide rack 30protrusions extending from a side of the slide rack 30 when the firstslide rack 30 is positioned at an angle in the carousel 10.

In one embodiment, the first linear axis is orthogonal to the secondlinear axis and the third linear axis. In one embodiment, the secondlinear axis is orthogonal to the first linear axis and the third linearaxis. In one embodiment, the third linear axis is orthogonal to thefirst linear axis and the second linear axis. In one embodiment, eachlinear axis is orthogonal to the other two linear axes.

In one embodiment a method of conveying a first slide to from a sliderack 30 carousel 10 to a slide scanning state in a digital slidescanning apparatus comprises storing a plurality of slide racks 30 inthe slide rack 30 carousel 10. The slide rack 30 carousel 10 isintegrated with and/or operatively coupled with the digital slidescanner apparatus. Advantageously, each slide rack 30 supports aplurality of glass slides 40 and the first slide is supported by a firstslide rack 30 in the slide rack 30 carousel 10.

The method additional includes conveying the first glass slide 40 to thescanning stage of the digital slide scanner apparatus by driving a firstgripper finger 450 attached to a finger mount 430 of a slide rack 30gripper and a second gripper finger 450 attached to the finger mount 430along a linear gripper finger 450 grasp axis to a predetermined distancebetween a slide rack 30 engagement surface of the first gripper finger450 and a slide rack 30 engagement surface of the second gripper finger450. The method also includes driving the finger mount 430 along a firstlinear finger mount 430 axis to position the first gripper finger 450 ina first rack spacer recess 60 on a first side of a first slide rack 30supporting the first slide and to position the second gripper finger 450in a second rack spacer recess 60 on a second side of the first sliderack 30. Subsequent to the first gripper finger 450 and the secondgripper finger 450 being positioned on respective first and second sidesof the first slide rack 30, the method also includes driving the firstgripper finger 450 and the second gripper finger 450 toward each otheralong the linear gripper finger 450 grasp axis to bring the slide rack30 engagement surface of the first gripper finger 450 in contact with afirst surface of the first slide rack 30 and to bring the slide rack 30engagement surface of the second gripper finger 450 in contact with asecond surface of the first slide rack 30;

Subsequent to contact between the respective slide rack 30 engagementsurfaces of the first and second gripper fingers 450 and the first andsecond surfaces of the first slide rack 30, the method also includesdriving the finger mount 430 along the first linear finger mount 430axis to remove the first slide rack 30 from the slide rack 30 carousel10. And subsequent to removing the first slide rack 30 from the sliderack 30 carousel 10, the method also includes conveying the first sliderack 30 toward the scanning stage.

In one embodiment, driving the two or more gripper fingers 450 along thegripper finger 450 grasp axis also includes driving the two or moregripper fingers 450 toward each other. In one embodiment, driving thetwo or more gripper fingers 450 along the gripper finger 450 grasp axisincludes driving the two or more gripper fingers 450 away from eachother.

5. Example Digital Slide Scanning Apparatus

The various embodiments described herein may be implemented using adigital pathology scanning device such as described with respect toFIGS. 7A-7D.

FIG. 7A is a block diagram illustrating an example processor enableddevice 550 that may be used in connection with various embodimentsdescribed herein. Alternative forms of the device 550 may also be usedas will be understood by the skilled artisan. In the illustratedembodiment, the device 550 is presented as a digital imaging device(also referred to as a digital slide scanning apparatus, digital slidescanner, scanner, scanner system or a digital imaging device, etc.) thatcomprises one or more processors 555, one or more memories 565, one ormore motion controllers 570, one or more interface systems 575, one ormore movable stages 580 that each support one or more glass slides 585with one or more samples 590, one or more illumination systems 595 thatilluminate the sample, one or more objective lenses 600 that each definean optical path 605 that travels along an optical axis, one or moreobjective lens positioners 630, one or more optional epi-illuminationsystems 635 (e.g., included in a fluorescence scanner system), one ormore focusing optics 610, one or more line scan cameras 615 and/or oneor more area scan cameras 620, each of which define a separate field ofview 625 on the sample 590 and/or glass slide 585. The various elementsof the scanner system 550 are communicatively coupled via one or morecommunication busses 560. Although there may be one or more of each ofthe various elements of the scanner system 550, for simplicity in thedescription, these elements will be described in the singular exceptwhen needed to be described in the plural to convey the appropriateinformation.

The one or more processors 555 may include, for example, a centralprocessing unit (“CPU”) and a separate graphics processing unit (“GPU”)capable of processing instructions in parallel or the one or moreprocessors 555 may include a multicore processor capable of processinginstructions in parallel. Additional separate processors may also beprovided to control particular components or perform particularfunctions such as image processing. For example, additional processorsmay include an auxiliary processor to manage data input, an auxiliaryprocessor to perform floating point mathematical operations, aspecial-purpose processor having an architecture suitable for fastexecution of signal processing algorithms (e.g., digital signalprocessor), a slave processor subordinate to the main processor (e.g.,back-end processor), an additional processor for controlling the linescan camera 615, the stage 580, the objective lens 225, and/or a display(not shown). Such additional processors may be separate discreteprocessors or may be integrated with the processor 555.

The memory 565 provides storage of data and instructions for programsthat can be executed by the processor 555. The memory 565 may includeone or more volatile and/or non-volatile computer-readable storagemediums that store the data and instructions, including, for example, arandom access memory, a read only memory, a hard disk drive, removablestorage drive, and the like. The processor 555 is configured to executeinstructions that are stored in memory 565 and communicate viacommunication bus 560 with the various elements of the scanner system550 to carry out the overall function of the scanner system 550.

The one or more communication busses 560 may include a communication bus560 that is configured to convey analog electrical signals and mayinclude a communication bus 560 that is configured to convey digitaldata. Accordingly, communications from the processor 555, the motioncontroller 570, and/or the interface system 575 via the one or morecommunication busses 560 may include both electrical signals and digitaldata. The processor 555, the motion controller 570, and/or the interfacesystem 575 may also be configured to communicate with one or more of thevarious elements of the scanning system 550 via a wireless communicationlink.

The motion control system 570 is configured to precisely control andcoordinate XYZ movement of the stage 580 and the objective lens 600(e.g., via the objective lens positioner 630). The motion control system570 is also configured to control movement of any other moving part inthe scanner system 550. For example, in a fluorescence scannerembodiment, the motion control system 570 is configured to coordinatemovement of optical filters and the like in the epi-illumination system635.

The interface system 575 allows the scanner system 550 to interface withother systems and human operators. For example, the interface system 575may include a user interface to provide information directly to anoperator and/or to allow direct input from an operator. The interfacesystem 575 is also configured to facilitate communication and datatransfer between the scanning system 550 and one or more externaldevices that are directly connected (e.g., a printer, removable storagemedium, etc.) or external devices such as an image server system, anoperator station, a user station, and an administrative server systemthat are connected to the scanner system 550 via a network (not shown).

The illumination system 595 is configured to illuminate a portion of thesample 590. The illumination system 595 may include, for example, alight source and illumination optics. The light source could be avariable intensity halogen light source with a concave reflective mirrorto maximize light output and a KG-1 filter to suppress heat. The lightsource could also be any type of arc-lamp, laser, or other source oflight. In an embodiment, the illumination system 595 illuminates thesample 590 in transmission mode such that the line scan camera 615and/or area scan camera 620 sense optical energy that is transmittedthrough the sample 590. Alternatively, or additionally, the illuminationsystem 595 may be configured to illuminate the sample 590 in reflectionmode such that the line scan camera 615 and/or area scan camera 620sense optical energy that is reflected from the sample 590. Overall, theillumination system 595 is configured to be suitable for interrogationof the microscopic sample 590 in any known mode of optical microscopy.

In an embodiment, the scanner system 550 optionally includes anepi-illumination system 635 to optimize the scanner system 550 forfluorescence scanning. Fluorescence scanning is the scanning of samples590 that include fluorescence molecules, which are photon sensitivemolecules that can absorb light at a specific wavelength (excitation).These photon sensitive molecules also emit light at a higher wavelength(emission). Because the efficiency of this photoluminescence phenomenonis very low, the amount of emitted light is often very low. This lowamount of emitted light typically frustrates conventional techniques forscanning and digitizing the sample 590 (e.g., transmission modemicroscopy). Advantageously, in an optional fluorescence scanner systemembodiment of the scanner system 550, use of a line scan camera 615 thatincludes multiple linear sensor arrays (e.g., a time delay integration(“TDI”) line scan camera) increases the sensitivity to light of the linescan camera by exposing the same area of the sample 590 to each of themultiple linear sensor arrays of the line scan camera 615. This isparticularly useful when scanning faint fluorescence samples with lowemitted light.

Accordingly, in a fluorescence scanner system embodiment, the line scancamera 615 is preferably a monochrome TDI line scan camera.Advantageously, monochrome images are ideal in fluorescence microscopybecause they provide a more accurate representation of the actualsignals from the various channels present on the sample. As will beunderstood by those skilled in the art, a fluorescence sample 590 can belabeled with multiple florescence dyes that emit light at differentwavelengths, which are also referred to as “channels.”

Furthermore, because the low and high end signal levels of variousfluorescence samples present a wide spectrum of wavelengths for the linescan camera 615 to sense, it is desirable for the low and high endsignal levels that the line scan camera 615 can sense to be similarlywide. Accordingly, in a fluorescence scanner embodiment, a line scancamera 615 used in the fluorescence scanning system 550 is a monochrome10 bit 64 linear array TDI line scan camera. It should be noted that avariety of bit depths for the line scan camera 615 can be employed foruse with a fluorescence scanner embodiment of the scanning system 550.

The movable stage 580 is configured for precise X-Y axes movement undercontrol of the processor 555 or the motion controller 570. The movablestage may also be configured for movement in a Z axis under control ofthe processor 555 or the motion controller 570. The moveable stage isconfigured to position the sample in a desired location during imagedata capture by the line scan camera 615 and/or the area scan camera.The moveable stage is also configured to accelerate the sample 590 in ascanning direction to a substantially constant velocity and thenmaintain the substantially constant velocity during image data captureby the line scan camera 615. In an embodiment, the scanner system 550may employ a high precision and tightly coordinated X-Y grid to aid inthe location of the sample 590 on the movable stage 580. In anembodiment, the movable stage 580 is a linear motor based X-Y stage withhigh precision encoders employed on both the X and the Y axis. Forexample, very precise nanometer encoders can be used on the axis in thescanning direction and on the axis that is in the directionperpendicular to the scanning direction and on the same plane as thescanning direction. The stage is also configured to support the glassslide 585 upon which the sample 590 is disposed.

The sample 590 can be anything that may be interrogated by opticalmicroscopy. For example, a glass microscope slide 585 is frequently usedas a viewing substrate for specimens that include tissues and cells,chromosomes, DNA, protein, blood, bone marrow, urine, bacteria, beads,biopsy materials, or any other type of biological material or substancethat is either dead or alive, stained or unstained, labeled orunlabeled. The sample 590 may also be an array of any type of DNA orDNA-related material such as cDNA, RNA or protein that is deposited onany type of slide or other substrate, including any and all samplescommonly known as microarrays. The sample 590 may be a microtiter plate,for example a 96-well plate. Other examples of the sample 590 includeintegrated circuit boards, electrophoresis records, petri dishes, film,semiconductor materials, forensic materials, and machined parts.

Objective lens 600 is mounted on the objective positioner 630 which, inan embodiment, may employ a very precise linear motor to move theobjective lens 600 along the optical axis defined by the objective lens600. For example, the linear motor of the objective lens positioner 630may include a 50 nanometer encoder. The relative positions of the stage580 and the objective lens 600 in XYZ axes are coordinated andcontrolled in a closed loop manner using motion controller 570 under thecontrol of the processor 555 that employs memory 565 for storinginformation and instructions, including the computer-executableprogrammed steps for overall operation of the scanning system 550.

In an embodiment, the objective lens 600 is a plan apochromatic (“APO”)infinity corrected objective with a numerical aperture corresponding tothe highest spatial resolution desirable, where the objective lens 600is suitable for transmission mode illumination microscopy, reflectionmode illumination microscopy, and/or epi-illumination mode fluorescencemicroscopy (e.g., an Olympus 40X, 0.75 NA or 20X, 0.75 NA).Advantageously, objective lens 600 is capable of correcting forchromatic and spherical aberrations. Because objective lens 600 isinfinity corrected, focusing optics 610 can be placed in the opticalpath 605 above the objective lens 600 where the light beam passingthrough the objective lens becomes a collimated light beam. The focusingoptics 610 focus the optical signal captured by the objective lens 600onto the light-responsive elements of the line scan camera 615 and/orthe area scan camera 620 and may include optical components such asfilters, magnification changer lenses, and/or the like. The objectivelens 600 combined with focusing optics 610 provides the totalmagnification for the scanning system 550. In an embodiment, thefocusing optics 610 may contain a tube lens and an optional 2Xmagnification changer. Advantageously, the 2X magnification changerallows a native 20X objective lens 600 to scan the sample 590 at 40Xmagnification.

The line scan camera 615 comprises at least one linear array of pictureelements (“pixels”). The line scan camera may be monochrome or color.Color line scan cameras typically have at least three linear arrays,while monochrome line scan cameras may have a single linear array orplural linear arrays. Any type of singular or plural linear array,whether packaged as part of a camera or custom-integrated into animaging electronic module, can also be used. For example, a 3 lineararray (“red-green-blue” or “RGB”) color line scan camera or a 96 lineararray monochrome TDI may also be used. TDI line scan cameras typicallyprovide a substantially better signal-to-noise ratio (“SNR”) in theoutput signal by summing intensity data from previously imaged regionsof a specimen, yielding an increase in the SNR that is in proportion tothe square-root of the number of integration stages. TDI line scancameras comprise multiple linear arrays. For example, TDI line scancameras are available with 24, 32, 48, 64, 96, or even more lineararrays. The scanner system 550 also supports linear arrays that aremanufactured in a variety of formats including some with 512 pixels,some with 1024 pixels, and others having as many as 4096 pixels.Similarly, linear arrays with a variety of pixel sizes can also be usedin the scanner system 550. The salient requirement for the selection ofany type of line scan camera 615 is that the motion of the stage 580 canbe synchronized with the line rate of the line scan camera 615 so thatthe stage 580 can be in motion with respect to the line scan camera 615during the digital image capture of the sample 590.

The image data generated by the line scan camera 615 is stored in aportion of the memory 565 and processed by the processor 555 to generatea contiguous digital image of at least a portion of the sample 590. Thecontiguous digital image can be further processed by the processor 555and the processed contiguous digital image can also be stored in thememory 565.

In an embodiment with two or more line scan cameras 615, at least one ofthe line scan cameras 615 can be configured to function as a focusingsensor that operates in combination with at least one of the line scancameras 615 that is configured to function as an imaging sensor. Thefocusing sensor can be logically positioned on the same optical axis asthe imaging sensor or the focusing sensor may be logically positionedbefore or after the imaging sensor with respect to the scanningdirection of the scanner system 550. In an embodiment with at least oneline scan camera 615 functioning as a focusing sensor, the image datagenerated by the focusing sensor is stored in a portion of the memory565 and processed by the one or more processors 555 to generate focusinformation to allow the scanner system 550 to adjust the relativedistance between the sample 590 and the objective lens 600 to maintainfocus on the sample during scanning. Additionally, in an embodiment theat least one line scan camera 615 functioning as a focusing sensor maybe oriented such that each of a plurality of individual pixels of thefocusing sensor is positioned at a different logical height along theoptical path 605.

In operation, the various components of the scanner system 550 and theprogrammed modules stored in memory 565 enable automatic scanning anddigitizing of the sample 590, which is disposed on a glass slide 585.The glass slide 585 is securely placed on the movable stage 580 of thescanner system 550 for scanning the sample 590. Under control of theprocessor 555, the movable stage 580 accelerates the sample 590 to asubstantially constant velocity for sensing by the line scan camera 615,where the speed of the stage is synchronized with the line rate of theline scan camera 615. After scanning a stripe of image data, the movablestage 580 decelerates and brings the sample 590 to a substantiallycomplete stop. The movable stage 580 then moves orthogonal to thescanning direction to position the sample 590 for scanning of asubsequent stripe of image data, e.g., an adjacent stripe. Additionalstripes are subsequently scanned until an entire portion of the sample590 or the entire sample 590 is scanned.

For example, during digital scanning of the sample 590, a contiguousdigital image of the sample 590 is acquired as a plurality of contiguousfields of view that are combined together to form an image strip. Aplurality of adjacent image strips are similarly combined together toform a contiguous digital image of a portion of the sample 590 or theentire sample 590. The scanning of the sample 590 may include acquiringvertical image strips or horizontal image strips. The scanning of thesample 590 may be either top-to-bottom, bottom-to-top, or both(bi-directional) and may start at any point on the sample.Alternatively, the scanning of the sample 590 may be eitherleft-to-right, right-to-left, or both (bi-directional) and may start atany point on the sample. Additionally, it is not necessary that imagestrips be acquired in an adjacent or contiguous manner. Furthermore, theresulting image of the sample 590 may be an image of the entire sample590 or only a portion of the sample 590.

In an embodiment, computer-executable instructions (e.g., programmedmodules or other software) are stored in the memory 565 and, whenexecuted, enable the scanning system 550 to perform the variousfunctions described herein. In this description, the term“computer-readable storage medium” is used to refer to any media used tostore and provide computer executable instructions to the scanningsystem 550 for execution by the processor 555. Examples of these mediainclude memory 565 and any removable or external storage medium (notshown) communicatively coupled with the scanning system 550 eitherdirectly or indirectly (e.g., via a network).

FIG. 7B illustrates a line scan camera having a single linear array 640,which may be implemented as a charge coupled device (“CCD”) array. Thesingle linear array 640 comprises a plurality of individual pixels 645.In the illustrated embodiment, the single linear array 640 has 4096pixels. In alternative embodiments, linear array 640 may have more orfewer pixels. For example, common formats of linear arrays include 512,1024, and 4096 pixels. The pixels 645 are arranged in a linear fashionto define a field of view 625 for the linear array 640. The size of thefield of view varies in accordance with the magnification of the scannersystem 550.

FIG. 7C illustrates a line scan camera having three linear arrays, eachof which may be implemented as a CCD array. The three linear arrayscombine to form a color array 650. In an embodiment, each individuallinear array in the color array 650 detects a different color intensity,(e.g., red, green, or blue). The color image data from each individuallinear array in the color array 650 is combined to form a single fieldof view 625 of color image data.

FIG. 7D illustrates a line scan camera having a plurality of lineararrays, each of which may be implemented as a CCD array. The pluralityof linear arrays combine to form a TDI array 655. Advantageously, a TDIline scan camera may provide a substantially better SNR in its outputsignal by summing intensity data from previously imaged regions of aspecimen, yielding an increase in the SNR that is in proportion to thesquare-root of the number of linear arrays (also referred to asintegration stages). A TDI line scan camera may comprise a largervariety of numbers of linear arrays. For example common formats of TDIline scan cameras include 24, 32, 48, 64, 96, 120 and even more lineararrays.

The above description of the disclosed embodiments is provided to enableany person skilled in the art to make or use the invention. Variousmodifications to these embodiments will be readily apparent to thoseskilled in the art, and the generic principles described herein can beapplied to other embodiments without departing from the spirit or scopeof the invention. Thus, it is to be understood that the description anddrawings presented herein represent a presently preferred embodiment ofthe invention and are therefore representative of the subject matterwhich is broadly contemplated by the present invention. It is furtherunderstood that the scope of the present invention fully encompassesother embodiments that may become obvious to those skilled in the artand that the scope of the present invention is accordingly not limited.

1-20. (canceled)
 21. A method, comprising: (a) storing a plurality of slide racks in a slide rack carousel operatively coupled with a digital slide scanner apparatus, each slide rack supporting a plurality of glass slides; and (b) conveying a first glass slide to a scanning stage of the digital slide scanner apparatus by: (i) driving a finger mount including a first gripper finger and a second gripper finger along a gross motor axis to position the first gripper finger and the second gripper finger proximate opposing sides of a selected slide rack supporting the first slide, (ii) subsequent to the first gripper finger and the second gripper finger being positioned proximate opposing sides of the selected slide rack, driving the first gripper finger and the second gripper finger toward each other along a first fine motor axis to grip the selected slide rack with the first gripper finger and the second gripper finger, (iii) subsequent to gripping the selected slide rack with the first gripper finger and the second gripper finger, driving the finger mount along the gross motor axis to remove the selected slide rack from the slide rack carousel, and (iv) subsequent to removing the first slide rack from the slide rack carousel, conveying the first slide rack toward the scanning stage.
 22. The method of claim 21, the step of conveying the first glass slide further includes driving the first gripper finger and the second gripper finger along the first fine motor axis to a predetermined distance between a slide rack engagement surface of the first gripper finger and a slide rack engagement surface of the second gripper finger.
 23. The method of claim 22, the act of driving the first gripper finger and the second gripper finger along the first fine motor axis to the predetermined distance includes driving the first gripper finger and the second gripper finger toward each other.
 24. The method of claim 22, the act of driving the first gripper finger and the second gripper finger along the first fine motor axis to the predetermined distance includes driving the first gripper finger and the second gripper finger away from each other.
 25. The method of claim 21, the act of driving the finger mount along the gross motor axis to position the first gripper finger and the second gripper finger proximate opposing sides of the selected slide rack including driving the finger mount along the gross motor axis to position the first gripper finger in a first rack spacer recess on a first side of the selected slide rack supporting the first slide and to position the second gripper finger in a second rack spacer recess on a second side of the selected slide rack.
 26. The method of claim 21, the act of gripping the selected slide rack including driving the first gripper finger and the second gripper finger toward each other along the first fine motor axis to bring a slide rack engagement surface of the first gripper finger in contact with a first surface of the selected slide rack and to bring a slide rack engagement surface of the second gripper finger in contact with a second surface of the selected slide rack.
 27. The method of claim 21, the step of conveying the first glass slide further includes driving the first gripper finger and the second gripper finger along a second fine motor axis.
 28. The method of claim 27, act of gripping the selected slide rack including driving the first gripper finger and the second gripper finger along both the first fine motor axis and the second fine motor axis.
 29. The method of claim 28, the second fine motor axis being perpendicular relative to the first fine motor axis.
 30. A method, comprising: (a) storing a plurality of slide racks in a slide rack carousel operatively coupled with a digital slide scanner apparatus, each slide rack supporting a plurality of glass slides; and (b) conveying a first glass slide to a scanning stage of the digital slide scanner apparatus by: (i) driving a first gripper finger attached to a finger mount of a slide rack gripper and a second gripper finger attached to the finger mount along a linear gripper finger grasp axis to a predetermined distance between a slide rack engagement surface of the first gripper finger and a slide rack engagement surface of the second gripper finger, (ii) driving the finger mount along a first linear finger mount axis to position the first gripper finger in a first rack spacer recess on a first side of a first slide rack supporting the first slide and to position the second gripper finger in a second rack spacer recess on a second side of the first slide rack, (iii) subsequent to the first gripper finger and the second gripper finger being positioned on respective first and second sides of the first slide rack, driving the first gripper finger and the second gripper finger toward each other along the linear gripper finger grasp axis to bring the slide rack engagement surface of the first gripper finger in contact with a first surface of the first slide rack and to bring the slide rack engagement surface of the second gripper finger in contact with a second surface of the first slide rack, (iv) subsequent to contact between the respective slide rack engagement surfaces of the first and second gripper fingers and the first and second surfaces of the first slide rack, driving the finger mount along the first linear finger mount axis to remove the first slide rack from the slide rack carousel, and (v) subsequent to removing the first slide rack from the slide rack carousel, conveying the first slide rack toward the scanning stage.
 31. The method of claim 30, wherein driving the first gripper finger and the second griper finger along the gripper finger grasp axis includes driving the first gripper finger and the second gripper finger toward each other.
 32. The method of claim 30, wherein driving the first gripper finger and the second gripper finger along the gripper finger grasp axis comprises driving the first gripper finger and the second gripper finger away from each other.
 33. The method of claim 30, the act of driving the finger mount along the first linear finger mount axis to position the first gripper finger and the second finger gripper includes driving the finger mount in a first direction along the first linear finger mount axis, the act of driving the finger mount along the first linear finger mount axis to remove the first slide rack from the slide rack carousel includes driving the finger mount in a second direction along the first linear finger mount axis, the first direction being opposite the second direction.
 34. The method of claim 30, the act of driving the first gripper finger and the second gripper finger toward each other including aligning the first slide rack with the first finger gripper and the second finger gripper using one or more protrusions extending from the slide engagement surface of the first gripper finger and the second gripper finger.
 35. The method of claim 30, further comprising the step rotating the slide rack carousel to convey a second glass slide to the scanning stage.
 36. A non-transitory computer readable medium having stored thereon one or more sequences of instructions for causing one or more processors to perform comprising: (a) storing a plurality of slide racks in a slide rack carousel operatively coupled with a digital slide scanner apparatus, wherein each slide rack supports a plurality of glass slides; and (b) conveying a first glass slide to a scanning stage of the digital slide scanner apparatus by: (i) driving a first gripper finger attached to a finger mount of a slide rack gripper and a second gripper finger attached to the finger mount along a linear gripper finger grasp axis to a predetermined distance between a slide rack engagement surface of the first gripper finger and a slide rack engagement surface of the second gripper finger, (ii) driving the finger mount along a first linear finger mount axis to position the first gripper finger in a first rack spacer recess on a first side of a first slide rack supporting the first slide and to position the second gripper finger in a second rack spacer recess on a second side of the first slide rack, (iii) subsequent to the first gripper finger and the second gripper finger being positioned on respective first and second sides of the first slide rack, driving the first gripper finger and the second gripper finger toward each other along the linear gripper finger grasp axis to bring the slide rack engagement surface of the first gripper finger in contact with a first surface of the first slide rack and to bring the slide rack engagement surface of the second gripper finger in contact with a second surface of the first slide rack, (iv) subsequent to contact between the respective slide rack engagement surfaces of the first and second gripper fingers and the first and second surfaces of the first slide rack, driving the finger mount along the first linear finger mount axis to remove the first slide rack from the slide rack carousel, and (v) subsequent to removing the first slide rack from the slide rack carousel, conveying the first slide rack toward the scanning stage. 